What is it about?
Task and motion planning (TAMP) is an AI Planning approach. It integrates high-level task planning with low-level motion planning. However, as an integrated planning system, TAMP relies on the assumption of a static environment or a perfect perception system, it also lacks generality when applying to different scenarios, therefore, it will receive a poor performance in practical application. This article reviews the most relevant approaches to TAMP and classifies them according to their features and emphasis; it categorizes the challenges and presents online TAMP and machine learning-based TAMP approaches for addressing them.
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Why is it important?
This survey classifies the TAMP approaches systematically and presents the solutions for applying TAMP in real-world scenarios. TAMP is of great interest to the robotics and artificial intelligence, making this paper beneficial to the novice researchers.
Perspectives
AI Planning is a central and promising research field in robotics. Writing this article was an opportunity to provide an overview of TAMP and an outline of challenges to be addressed when applying TAMP in human daily life.
Huihui Guo
Hunan University
Read the Original
This page is a summary of: Recent Trends in Task and Motion Planning for Robotics: A Survey, ACM Computing Surveys, July 2023, ACM (Association for Computing Machinery),
DOI: 10.1145/3583136.
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